#ifndef __SIMULATOR_MODELS_CVIRTUALHAND_H__
#define __SIMULATOR_MODELS_CVIRTUALHAND_H__

#include <buola/scene.h>
#include <buola/scene/transform/crttransform.h>

namespace buola { namespace robot { namespace sdh {

class CVirtualHand
{
public:
    CVirtualHand();
    ~CVirtualHand();

    void SetPose(const mat::CVecNd<7> &pPose);
    mat::CVecNd<7> GetPose();

    void Update();

    scene::PRTTransform GetRootTransform()    {   return mGroup;  }

private:
    mutex mMutex;
    scene::PRTTransform mRotations[8];
    scene::PRTTransform mGroup;
    mat::CVecNd<7> mPose;
};

/*namespace sdh*/ } /*namespace robot*/ } /*namespace buola*/ }

#endif
